FR2872553A1 - PERISTALTIC PUMP COMPRISING A SUPPORT MEMBER AND A BACK SUPPORT SUITABLE FOR COOPERATING WITH A TUBE - Google Patents

Abstract

The peristaltic pump (1) comprises: a sensor (53, 57) of the force exerted between the bearing member (19) and the counter-member (24) between which a tube (6) is held; and a processing unit comprising means for determining, from the signal supplied by the sensor (53, 57), if predetermined conditions indicative of correct positioning of the tube (6) between the bearing member (19) and the counter-member (24) have been satisfied.

Description

The invention relates to the general field of peristaltic pumps.

  It relates more particularly to such a pump comprising a support member and a counter-support between which is held in engagement a tube on which said pump must act.

  A peristaltic pump, used in particular in the medical field, is a pump whose rotor is provided with rollers which gradually compress the section of an elastic tube so as to ensure the movement of a liquid along the tube.

  Such a pump thus makes it possible to circulate a fluid inside a tube by acting solely on this tube, without coming into contact with the liquid. This type of pump is thus suitable for any application requiring the maintenance of the fluid in a confined atmosphere, for example to prevent contamination of the fluid during work in a sterile environment. In general, a peristaltic pump is provided to operate in an environment where the notion of sterility is paramount. The pump must not only fulfill its function of circulating a fluid avoiding its contamination by the medium but also must be provided to avoid any contamination of the medium. The various elements of the pump must be easily cleaned, possibly being removable, while having a perfect seal.

  A peristaltic pump typically comprises a rotor having rollers on its periphery, and a movable jaw admitting an open position in which it is spaced from the rotor so that an elastically deformable tube on which the pump must act can be set. in place between the jaw and the rotor, and a closed position in which the movable jaw is brought closer to the rotor so that the tube is engaged between a curved bearing surface of the movable jaw and at least one roller of the rotor.

  Such peristaltic pumps are known whose movable jaw comprises an outgrow formed by a support member and whose pump body is provided with a counter-support arranged such that, when the jaw is in its open position , the member is moved away from the counter-support while, when the movable jaw is in its closed position, the support member is brought closer to the counter-support so that, when a tube is in place in the pump this tube is pinched between the support member and the counter-support. This pinching generally serves to keep the tube in place during operation of the pump.

  The peristaltic pumps currently available generally allow a visual check of the correct positioning of the tube between the rotor and the movable jaw when the latter is in the closed position. Similarly, the correct circulation of the fluid inside the tube can be visually or automatically controlled upstream and / or downstream of the pump.

  The object of the invention is to improve this type of pump.

  For this purpose, the invention relates to a peristaltic pump comprising a roller rotor and a movable jaw which is provided with a support member and which admits: an opening position in which it is separated from the rotor, the bearing member then being spaced from a counter-support fixed on the pump, so that a tube on which said pump must act can be put in place between the jaw and the rotor on the one hand and between the body support and the counterforce on the other hand; and a closing position in which the movable jaw is brought closer to the rotor, the support member then being brought closer to said abutment, so that said tube is engaged between a curved bearing surface of the movable jaw and at the less a rotor roller on the one hand, and between the support member and the counter-support on the other hand; this pump being characterized in that it further comprises: a sensor of the force exerted between the support member and the counter-support; a processing unit comprising means for determining, from the signal supplied by the sensor, whether predetermined conditions for placing the tube in the correct position between the support member and the counter-support are satisfied.

  Such a pump therefore permanently has information relating to the force exerted by the tube when it is put in place in the pump. Since this force is representative of the elastic behavior of the assembly formed by the tube and the liquid that it conducts, various measurement or control parameters can thus be monitored.

  In the first place, the sensor may give information relating to the presence or absence of a force exerted between the support member and the counter-support.

  The processing unit thus has information indicating that the tube is in place or on the contrary that mishandling has taken place since the tube is not between the support member and contrappui.

  The force sensor can be integrated in the counter-support for better results.

  In this case, the counter-support may comprise a first assembly which comprises: a base provided with fixing means to the pump; - A test body having a curved portion and rigidly connected by one of its ends to the base and having, at the other of its ends, a contact member; - a strain gauge applied to the bent portion of the test body.

  The counter-support may also include a second set identical to the first and independent so as to independently provide measurements relating to the two channels of a two-channel tube.

  According to a preferred characteristic, the processing unit comprises a memory in which a signal-pressure coefficient is conserved, the processing unit being adapted to process the value of the signal supplied by the force sensor according to said signal-pressure coefficient to provide the value of the pressure of the fluid flowing in the tube.

  The sensor can thus give information relating to the pressure of the fluid flowing in the tube. The processing unit then has a conversion coefficient of the force measured by the sensor in fluid pressure. A display of the instantaneous pressure of the fluid flowing in the tube can thus be implemented within such a pump.

  The following provisions can be implemented independently of each other in order to improve the measurement: the processing unit can comprise a tube creep compensation module adapted to periodically record the value of the signal supplied by the sensor of effort, and recalibrate the sensor dynamically based on the minimum value found among the various readings of said signal; the processing unit may comprise a module for filtering the pulsations of the pump; - The pump may comprise a motorized device for closing the movable jaw at a variable speed; this closing device can admit a first approach speed and a second closing speed, the closing speed being lower than the approach speed; - The contact member may comprise a flat bearing surface for contact with the tube; the contact member may be a rigid element attached to the test body.

  In addition, additional functions can be fulfilled by the pump in view of the following arrangements which can be implemented independently of one another: the processing unit can be adapted to control the rotational speed of the rotor as a function of indications given by the force sensor; - The processing unit may be adapted to stop the pump when the force exerted between the support member and the counter-support exceeds a predetermined threshold.

  Other features and advantages of the invention appear in the light of the description which follows of a preferred embodiment given by way of non-limiting example, description made with reference to the accompanying drawings in which: - Figure 1 represents in perspective a peristaltic pump ready to work with its accessories; FIG. 2 is a perspective view from below of the protective cover disposed on the top of the pump of FIG. 1; - Figure 3 is a top view of the pump of Figure 1 when the protective cover of Figure 2 has been removed; - Figure 4 shows the roller rotor visible on the top of the pump of Figure 3; - Figure 5 is a view similar to Figure 3 when the rotor of Figure 4 has been removed; - Figure 6 shows the pump of Figure 1 according to another perspective; Figure 7 is an enlargement of Box VII of Figure 6; - Figure 8 is a longitudinal section of the top of the pump of Figures 1 and 6 showing the positioning of the tube in the protective cover; FIG. 9 is a perspective view showing the manual positioning of the tube in the pump of FIGS. 1 and 6; FIG. 10 is a view similar to FIG. 9, schematizing the lateral adjustment operation of the tube of FIG. 9; - Figure 11 shows in perspective the pump head visible in Figure 3; - Figure 12 is a perspective view similar to Figure 11 also showing the movable jaw visible in Figure 2; FIG. 13 is a side view of the assembly of FIG. 12 in a section through the roller rotor and the eccentric controlling the movable jaw; and - Figures 14 to 16 show in plan view the pump head of Figure 12 according to different positions of the movable jaw; FIGS. 17 to 19 are views of the abutment which is visible in FIG. 12, vis-à-vis a support member of the movable jaw, these figures representing the abutment respectively viewed from below, seen from the side and seen from the front; - Figures 20 to 22 show, in a similar manner to Figures 17 to 19, the counter-support having undergone treatment to make it waterproof; FIG. 23 is a longitudinal sectional view of the counter-support of FIG. 18, this FIG. 23 further showing the cooperation between this counter-support, the support member, and the pipe which is here seen in section; and - Figure 24 is a diagram showing the arrangement of the force sensor and the processing unit and their connection with certain elements of the pump.

  Figure 1 shows a peristaltic pump 1 in one of the applications of this type of pump.

  In the present example, the pump 1 comprises accessories such as a bottle holder 2 and a flow drawer 3. This configuration makes it possible to pump the liquid contained in a bottle 4 towards two containers 5 and this, through a tube connected at one of its ends to the bottle 4 and at the other end to the containers 5.

  The tube 6 here comprises two separate channels that are sealed with respect to one another and connected to each other by a longitudinal separable core 7.

  This peristaltic pump 1 comprises a pump body 8 on which a display 9 and control keys 10 are arranged.

  The pump 1 also comprises a pump head 11 (visible in FIG. 3) which is covered in FIG. 1 by a protective cover 12.

  FIG. 2 is a perspective view of the protective cover 12, seen from below, once it has been removed from the pump 1. This protective cover 12 comprises a cover-shaped envelope 13 adapted to cover the elements of the head pump 11 so that the user can not come into contact with these movable elements. The envelope 13 has a rectilinear groove 14 of sufficient width to slide the tube 6 therein.

  A movable jaw 15 is moreover fixed on the inner wall of the casing 13 by means of three screws 16. This movable jaw 15 has a generally crescent-shaped shape having, at the level of the inner wall of a bent portion, a surface curved support 17 in the form of an arc. On either side of this bearing surface 17, the movable jaw 15 comprises respectively a tooth 18 and a support member 19, both intended to cooperate with the tube 6 as well as the bearing surface 17.

  The movable jaw 15 also comprises an axis hole 20 which opens through the wall of the casing 13 (see Figure 1).

  A light 21 communicating with an oblong hole 22 is also made in the thickness of the movable jaw 15. In FIG. 13, which shows the profile of the oblong hole 22, it appears that the latter has a shoulder 22 'substantially mid-thickness of the movable jaw 15. The light 21, meanwhile, does not include this shoulder.

  With reference to FIG. 3, the pump head 11 is visible once the protective cover 12 has been removed. This pump head 11 is in the form of a plate on which are mounted fixed, a counter-support 24, a blocking pin 25 and a shaft 23 intended to engage in the hole 20 of the shaft. movable jaw 15 to allow its rotation.

  The pump head 11 also receives, rotatably mounted, a roller rotor 26 and a plate 27 from which an eccentric pin 28 protrudes.

  FIG. 4 shows the roller rotor 26 once removed from the pump 1. This rotor 26 comprises two flanges 29 between which are rotated three cylindrical rollers 30 and two centering rollers 31, the cylindrical rollers 30 being arranged in a regular manner, 120 to each other, on the contour of the flanges 29.

  The flange 29, which is the upper flange in FIG. 4, comprises a flat part 32.

  The arrangement of the cylindrical rollers 30, the centering rollers 31 and the flattened portion 32 can be observed in FIG.

  Figure 5 shows the pump head of Figure 3 when the rotor 26 has been removed. This figure shows the drive shaft 33 adapted to drive the rotor 26 in rotation to fulfill the main function of the pump 1.

  Figure 6 is a side perspective view of the pump 1 showing the cooperation between the tube 6 and the hood 12 at the VIl box.

  FIG. 7, which is an enlargement of the frame VII, shows the portion of the groove 14 in which the tube 6 is engaged. This portion of the groove 14 is delimited by a bottom 35 in the form of an arc of circle and by two lateral walls 36 made of vis-a-vis. Each of these side walls 36 has a retaining boss 37, the two bosses 37 also being in vis-à-vis.

  This portion of the groove 14 visible in FIG. 7 forms a positioning member adapted to receive the depressing tube 6 while permitting a sliding thereof relative to the longitudinal axis along which it extends, or otherwise says parallel to himself.

  It is found that during the depression of the tube 6 in this groove portion 14 (see Figure 9) to obtain the assembly of Figure 7, the tube 6 slides first along the side walls 36 for then contact, by its lower channel, with the bosses 37, which creates a hard point to the depression of the tube 6. The user then continues the driving maneuver which has the effect of elastically deforming the lower channel of the tube 6 so that the latter comes to position vis-à-vis the bottom 35. The core 7 of the tube 6 then comes to be positioned between the two bosses 37, which allows the maintenance of the tube 6 in the direction in which s extends the groove portion 14 visible in FIG. 7.

  Although the lower channel of the tube 6 is held in its housing by the bosses 37, there is a clearance between the tube 6 and the positioning member, which allows the aforementioned sliding (see Figure 10).

  The withdrawal of the tube 6 is also performed by elastically deforming the lower channel of the tube 6 which materializes a hard point.

  Figure 8 shows in section the positioning of the tube 6 which has just been described.

  FIG. 11 is a perspective view of the pump head 11 in the configuration of FIG.

  FIG. 12 represents the pump head 11 on which is mounted the movable jaw 15 which has been separated from the cover 12, in order to show the cooperation of the movable jaw 15 with the elements mounted on this pump head 11.

  FIG. 13 represents a sectional view of FIG. 12 and shows in particular the mounting of the plate 27 on the pump head 11.

  The plate 27 is integral with a shaft 38 for driving in rotation which is mounted on a bearing relative to the pump head 11. This shaft 38 is integral with a wheel 39 meshing with a worm 40 itself driven by rotation by a motor (not shown).

  FIGS. 14 to 16 are top views of the assembly of FIG. 12 in three particular positions of the movable jaw 15, these positions being defined by the eccentric finger 28, that is to say by the angular position of the plate 27.

  FIG. 14 shows the eccentric 28 in a position allowing mounting of the movable jaw 15 on the pump head 11.

  In Figure 15, the movable jaw 15 is in the same position as in Figure 14 while the eccentric finger 28 is in a position where it locks the movable jaw 15 preventing it from being removed from the pump head 11 .

  FIG. 16, for its part, shows the movable jaw in its closed position controlled by the eccentric finger 28.

  The successive positions represented in these FIGS. 14 to 16 are not visible from the outside during normal use of the pump 1, this zone being covered by the cover 12 which is normally mounted on the jaw 15.

  Figures 17 to 19 show in different views the counter-support 24 which is mounted on the pump head 11.

  With reference to FIG. 19, this counter-support comprises an upper test body 41, a lower test body 42 and two flanges 43 whose shape follows the outline of the test bodies 41, 42 and which connect the test body 41, 42 to each other.

  FIG. 18 shows the shape of the flanges 43 forming the lateral walls of the counter-support 24. These flanges 43 are rigidly fixed to each of the test bodies 41, 42 by a positioning pin 44 and a fixing screw 45 .

  The bottom view of FIG. 17 furthermore makes it possible to distinguish the surface of the lower proof body 42 which is intended for attachment to the pump head 11. This surface comprises a cable passage orifice 46 surrounded by two threaded bores. 47 which are each arranged on a boss 48.

  The counter-support 24 further comprises an upper contact member 49 and a lower contact member 50 rigidly fixed respectively on the upper test body 41 and on the lower test body 42.

  Given the position of the pins 44 and screws 45 holding each of the test bodies 41, 42 on the flanges 43, the test bodies 41, 42 may undergo deformation when a force is applied to the contact members 49 , 50.

  FIGS. 20 to 22 show the counter-support 24 in the same views as in FIGS. 17 to 19, the counter-support 24 comprising here an elastic seal 51 which fills the interstices present between the test bodies 41, 42 provided with their contact member 49, 50 and the flanges 43. The elastic properties of this seal allow this seal while allowing the relative movements of the test bodies 41, 42 and flanges 43. The material forming the elastic seal 51 must have rigidity negligible compared to that of the test bodies 41, 42 and flanges 43. The test bodies 41, 42 may be for example martensitic stainless steel with high mechanical strength according to AFNOR Z40 CNV 14, hardened / tempered to 45 HRC while the flanges 43 and the contact members 49, 50 may be current stainless steel, the elastic seal 51 can then be silicone. In general, all the gaps and orifices present between the test bodies 41, 42, the contact members 49, 50 and the flanges 43 may be filled by such a seal for a perfect seal.

  FIG. 23 is a side view of the counter-support 24 in longitudinal section making it possible to see the shape of the test bodies 41, 42.

  Each of the test bodies comprises a base 52 from which extends a curved portion 53 which, at its end, comprises a container dovetail 54 in which the corresponding contact member 49, 50 engages by through a contained dovetail 55. Each base 52 has transverse holes 56 for the insertion of the pin 44 and the screw 45. Each base 52 further comprises an orifice 56 'for fixing the a rear wall (not shown).

  Each of the test bodies 41, 42 further comprises a strain gauge 57 fixed on the inner wall of the bent portion 53. These strain gauges 57 are adapted to measure the deformation of the bent portion 53 to which it is attached. Such deformation can take place when the counter-support 24 is fixed on the pump head 11 by means of screws engaged in the threaded bores 47 and a force is exerted on one of the contact members 49, 50.

  Note that the deformation of the curved portion 53 of one of the test bodies is independent of the deformation of the bent portion 53 of the other test body to the extent that the test bodies 41, 42 are not connected only by their base 52, thanks to the flanges 43.

  The strain gauges may for example be placed in so-called "Wheatstone" bridge in a manner well known in the field of mechanics.

  Cables connect each of the gages 57 to the control elements of the pump 1 through the orifice 46 (these cables are not shown).

  FIG. 24 diagrammatically represents the processing unit 58 connected to the counter-support 24 as well as to various elements of the pump 1 such as the rotor motor 26, the motor of the eccentric finger 28, as well as input peripherals such as as the keys 10 and output devices such as the display 9.

  This processing unit 58 comprises a mode 59 for compensating the creep of the tube 6, a module 60 for controlling the closure of the movable jaw 15 and a module 61 for filtering the pulsations of the pump 1.

  This processing unit, the operation of which is explained below, has functionalities that can be realized by a suitable electronic assembly or by a computer device programmed accordingly.

  The peristaltic pump 1 which has just been described operates as indicated below.

  When starting the pump 1, the movable jaw 15 is in the position of Figure 15, which corresponds to the position of the cover 12 visible in Figures 9 and 10, the rotor 26 is also in the position of Figure 15 , the flat 32 being arranged so that a rectilinear passage is provided between the rotor 26 and the jaw 15. The positioning members of the cover 12 are then aligned with this rectilinear passage.

  A tube 6 is first put in place on the pump 1. To do this, in accordance with FIG. 9, the user extends the tube 6 between his two hands and inserts it into the groove 14. This maneuver depression encounters a hard point related to the existence of the bosses 37, as explained above, to achieve the positioning of the tube 6 in each of the positioning members formed on either side of the groove 14, according to Figure 7 .

  With reference to FIG. 10, the user can then slide the tube 6 laterally, in one direction or the other, to adapt the length of hose available on either side of the lid 12 as a function of the accessories to which it is attached. connected the tube 6 (see Figure 1).

  Once this operation is carried out, the intervention of the user is no longer necessary as regards the positioning of the tube 6 in the pump 1.

  The user indicates with the aid of the control keys 10 that he wishes to start the pump 1, which has the effect of rotating the plate 27 by means of its motorization until the movable jaw has reached the position of Figure 16 in which the tooth 18 of the jaw 15 pinches the core 7 of the tube 6 against the locking pin 25.

  When this position is reached, the motor is blocked and consumes more power. This peak consumption being detected, the engine is then stopped.

  As the jaw 15 closes, the tube 6 wraps around the rotor 26 at the same time as it slides on demand in the positioning members of the cover 12.

  The tube 6 is finally held on either side of the rotor 26 by the cooperation of the tooth 18 and the blocking pin 25 on the one hand, and, on the other hand, by the cooperation of the device member. support 19 and contreappui 24 which slightly tighten the two channels of the tube 6.

  The movable jaw 15 is held in this closed position thanks to an irreversibility property of the wheel system 39 and worm 40.

  The screw pitch and the helix angle of these elements are indeed chosen, in a known mechanical manner, so that the rotation of the worm 40 can drive the wheel 39 but that the rotation of the wheel 39 can not not cause rotation of the worm 40.

  The tube 6 being thus engaged, the rotor 26 can be rotated to proceed with the circulation of the fluid contained in the tube 6 by the movement of the rollers 30.

  During the operation of the pump 1, the safety of the user is ensured by the fact that the movable jaw 15 is in the position of FIG. 16, that is to say in a position where the withdrawal of the movable jaw assembly-protective cover is prevented by the eccentric pin 28 at the shoulder 22 'of the oblong hole 22 formed in the movable jaw 15. The removal of the cover 12 is also impossible when the movable jaw 15 is in the position of Figure 15, that is to say when the rotor 26 is not moving but the pump 1 is under tension.

  On the other hand, when the pump 1 is de-energized, the eccentric finger 28 is controlled to reach the position of FIG. 14 and thus releases the movable jaw-protective cover assembly, for example to enable the cleaning of the parts of the pump head 11.

  The pump 1 further comprises means for obtaining, by means of the counter-support 24, information relating to the tube 6 and to the fluid in circulation and to act accordingly on the pump 1.

  The counter-support 24 is in fact connected to a processing unit (FIG. 24) which stores a signal-pressure coefficient in memory and which is adapted to supply the value of the pressure of the fluid flowing in the tube 6 from the voltage delivered by the strain gauges 57 (which is representative of the deformation of the corresponding recurve portion 53) and of this signal-pressure coefficient.

  Once the installation of the tube made, the pump head being in the position of Figure 16, the processing unit first checks the presence of the tube 6 and its correct placement. For this, a deformation of the curved portions 53 must be observed insofar as the spacing between the abutment 24 and the support member 19 of the jaw 15 in the closed position is less than the width of the tube 6 (see Figure 23).

  In the case where the presence of the tube 6 is not detected, the pump 1 does not start and displays an error message. Once the tube is properly positioned and once the pump is in

  In operation, the processing unit 58 provides at the outlet peripheries the instantaneous pressure of the fluid in each of the channels of the tube 6, independently of one another.

  The signal-pressure coefficient is determined empirically, during a preliminary calibration phase, by installing a given tube of characteristics in the pump 1 and applying to it a known pressure. The value of the voltage delivered by the strain gauges 57 is then read and, the pressure corresponding to this value being known, the coefficient can thus be determined. This coefficient can be determined for each new tube used. An average value can also be obtained by subjecting several tubes to this test and determining a valid average coefficient for these different tubes.

  Measurement of the fluid pressure in the tube 6 may be employed by the processing unit 58 for the following additional applications.

  The processing unit 58 comprises a module 59 for creep compensation of the tube 6 which improves the reliability of the measurement. For this purpose, this module 59 reads at regular intervals, for example 20 milliseconds, the voltage supplied by the strain gauges 57 and performs a dynamic calibration by considering, from one reading to the next, the lowest voltage as reference for the calculation of zero pressure.

  The processing unit 58 also comprises a module 60 for controlling the closure of the movable jaw 15 adapted to regulate the speed of the movable jaw 15 as it moves from its open position to its closed position, this operation resulting in the compression of the tube 6 between the support member 19 and the counter-support 24. A too rapid tightening of the movable jaw 15 indeed causes a disturbance of the pressure measurement, which is due to the elasticity of the tube 6.

  The module 60 can thus be controlled to slow down the closing of the movable jaw (that is to say the motor control of the eccentric finger 28) when disturbances of the pressure measurement appear.

  The module 60 can also be programmed to start closing the movable jaw 15 in rapid speed and then to pinch the tube 6 at a slower speed, once the tube 6 reaches the counter-support 24.

  Furthermore, the processing unit 58 furthermore comprises a module 61 for filtering the pulsations of the pump 1. The movement of the rotor 26 acting on the tube 6 during the operation of the pump 1 in fact causes cyclical disturbances of the measurement. of pressure, these disturbances depending on the frequency of rotation of the rotor 26.

  The module 61 performs an electronic filtering, for example via a low pass RC filter establishing a cutoff frequency.

  In the present example, the rotational speed of the rotor 26 is 240 rpm and it comprises three rollers, which corresponds to a pulse of 12 Hz. A cutoff frequency of 1.5 Hz can then be defined by a filter. RC appropriate and gives good results.

  The processing unit 58 can also slaved the speed of rotation of the rotor 26 with the measured pressure of the fluid in the tube 6. For example, if the processing unit 58 has the information relating to the maximum permissible pressure in the tube 6, the speed of rotation of the pump can be increased to the maximum and be reduced on demand, when the pressure in the tube 6 approaches its maximum allowable value.

  Similarly, the processing unit 58 can detect a difficult flow of the fluid in the tube 6, for example linked to the plugging of the tubes, indicating the abnormal variations in fluid pressure.

  Alternative embodiments of the device can be envisaged without departing from the scope of the invention. In particular, the tube 6 may comprise a single channel or, conversely, several channels beyond the second, the counter-support comprising as many test bodies as channels.

Claims (13)

  1. Peristaltic pump (1) comprising a rotor (26) with rollers (30) and a movable jaw (15) which is provided with a support member (19) and which has: - an open position in which it is separated from the rotor (26), the support member (19) then being spaced from a counter-support (24) fixed on the pump (1), so that a tube (6) on which must acting said pump (1) can be put in place between the jaw (15) and the rotor (26) on the one hand and between the support member (19) and the counter-support (24) on the other hand ; and a closing position in which the movable jaw (15) is brought closer to the rotor (26), the support member (19) then being brought closer to said abutment (24), so that said tube (6) is engaged between a curved bearing surface (17) of the movable jaw (15) and at least one roller (30) of the rotor (26) on the one hand, and between the support member (19) and the counter-support (24) on the other hand; this pump (1) being characterized in that it further comprises: - a sensor (53, 57) of the force exerted between the support member (19) and the counter-support (24); a processing unit (58) comprising means for determining, from the signal supplied by the sensor (53, 57), whether predetermined conditions of correct positioning of the tube (6) between the support member ( 19) and the counter-support (24) are satisfied.   2. peristaltic pump according to claim 1, characterized in that the force sensor (53, 57) is integrated in the counter-support (24).   3. Peristaltic pump according to claim 2, characterized in that the abutment (24) comprises a first assembly which comprises: - a base (52) provided with fixing means (47) to the pump (1); - A test body (53) having a curved portion and rigidly connected by one of its ends to the base (52) and having, at the other of its ends, a contact member (50); - a strain gauge (57) applied to the bent portion of the test body (53).   4. peristaltic pump according to claim 3, characterized in that the counter-support (24) has a second set identical to the first and independent.   5. peristaltic pump according to one of claims 1 to 4, characterized in that the processing unit (58) comprises a memory in which is preserved a signal-pressure coefficient, the processing unit (58) being adapted to treat the value of the signal supplied by the force sensor (53, 57) according to said signal-pressure coefficient for supplying the value of the pressure of the fluid flowing in the tube (6).   6. peristaltic pump according to one of claims 1 to 5, characterized in that the processing unit (58) comprises a module (59) of creep compensation of the tube (6) adapted to periodically record the value of the signal provided by the force sensor (53, 57), and to recalibrate the sensor (53, 57) dynamically as a function of the minimum value found among the various readings of said signal.   7. peristaltic pump according to one of claims 1 to 6, characterized in that the processing unit (58) comprises a module (61) for filtering pulsations of the pump (1).   8. peristaltic pump according to one of claims 1 to 7, characterized in that the processing unit (58) is adapted to control the speed of rotation of the rotor (26) according to the indications given by the force sensor (53, 57).   9. Peristaltic pump according to one of claims 1 to 8, characterized in that the processing unit (58) is adapted to stop the pump (1) when the force exerted between the support member ( 19) and the counterpart (24) exceeds a predetermined threshold.   10. Peristaltic pump according to one of claims 1 to 9, characterized in that it comprises a motorized device for closing the movable jaw (15) at a variable speed.   11. Peristaltic pump according to claim 10, characterized in that the closure device has a first approach speed and a second closing speed, the closing speed being less than the approach speed.   12. peristaltic pump according to one of claims 3 and 4, characterized in that the contact member (49, 50) comprises a flat bearing surface for contact with the tube (6).   13. Peristaltic pump according to one of claims 3 and 4, characterized in that the contact member (49, 50) is a rigid element attached to the test body (53).